Simulation of Manipulator with Flexible Joint

Hai Wang; Xiao Pin Xia

doi:10.4028/www.scientific.net/AMM.325-326.999

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 325-326Simulation of Manipulator with Flexible Joint

Simulation of Manipulator with Flexible Joint

Abstract:

Joint flexibility is the key factor during dynamic control of robot manipulator. Accurate dynamic model is the fundamental of manipulator system design, analysis and control. This paper adopts Lagrange method to accomplish two degrees freedom manipulator modeling, and then design Backstepping control law according to a single-link manipulator. For the above control law, the proof of the Lyapunov stability is given and simulations are done. The simulated result suggested that the static error is decreased.

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Periodical:

Applied Mechanics and Materials (Volumes 325-326)

Pages:

999-1003

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.325-326.999

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Online since:

June 2013

Authors:

Hai Wang, Xiao Pin Xia

Keywords:

Backstepping Control, Flexible Joint, Lagrange Method, MATLAB

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References

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